恒增益机械臂控制算法的设计

Roman E. García-Ferral, F. Reyes‐Cortes, Brandon Sánchez-García
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引用次数: 0

摘要

提出了一种具有重力补偿的比例导数控制器的恒增益控制算法。该控制算法解决了机械手在关节空间中的位置控制问题。为了解决上述问题,采用了能量整形技术。对于算法的发展,使用恒定增益。算法设计以三自由度机器人为实验平台。该控制方案的主要特点是该算法产生有界转矩。机器人的伺服执行器保持在其物理极限内,避免了饱和区。为了实现控制结构,提出了一个李雅普诺夫函数。结果表明,基于所提出的函数,存在一个唯一且稳定的平衡点。为了说明该设计的性能,进行了仿真,并将结果置于误差函数中。控制算法的设计和实现使得测试操作机器人的性能成为可能,从而为选择满足操作者需求的控制算法提供了可能。
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Design of a control algorithm for a robot manipulator with constant gains
This paper presents a new control algorithm of constant gains for a Proportional Derivative controller with gravity compensation. The problem of position control of manipulator robots in the joint space is solved with the proposed control algorithm. To abord the previously mentioned problem, the energy shaping technique is used. For the development of the algorithm, constant gains were used. The algorithm design is focused on three DOF robots as an experimental platform. The main characteristic of the proposed control scheme is that the algorithm generates bounded torques. The servo actuators of the robot are kept within their physical limits avoiding the saturation zone. To carry out the control structure, a Lyapunov function is proposed. It is shown that there is a point of equilibrium such that it is unique and stable based on the proposed function. To illustrate the performance of the design, simulations were made, and results are placed in the function of error. Designing and implementing control algorithms makes it possible to test performances in manipulative robots, giving the possibility of choosing one that meets the needs of the operators.
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